Simulation of a 4WS Robot Using ROS2 Control and Gazebo

In this tutorial I explain how to use ROS2 Control to create a 4WS robot and simulate it using Gazebo.

ROS: humble

The project is here:

[valuetradings]

hello, i got the robot in gazebo but it doesn't move in accordance with the joypad. it is moving very slowly automatically, help me out

[MooMoo-dxuv]

Hey man, nice video! I was wondering what the different purposes or usages of the sdf and urdf files are? They are both very similar thats why i cant really figure out what is being used for and by what.

Hope u can help and thanks in advance!

[Itsme-tcci]

Nice video! Did you already tried to combine it with nav2?

[Freepalestine_]

Hello thank you for the tuto I built your project and I tried to launch the simulation but gazebo crashes and does not want to launch do you have a track for me?

[iskandarabdelhedi]

hi, thank you for your help ! but i have an error in the controller_manager package, the load_controller file not found

[borenli]

Hello, after starting the launch file, which button should I press to control the robot's movement? Why did I see no output on the Joy topic?

[chan-hsvb]

I wanna modify and use for my 4wheel drive project but i wonder in robot_contorl.py self.wheel_seperation = 0.122
self.wheel_base = 0.156
self.wheel_radius = 0.026
what unit these code use? feet? meter? I wanna know.

[ЮсуфБойматов-ви]

Thank you so much! But in google drive there is no some folders (install as example)(((
Please, can you add full archive?

[nivedkrishnan]

Hello I have tried to launch simulation in gazebo But I found that robot car is shivering and jumping in gazebo.How can I solve this issue

[nivedkrishnan]

Iam trying to perform autonavigation. How can I get odom feedback from robot.Can you please help me .

[naturein_my_lens]

i dont have physical joy is it possible do then where i modify

[muhammadibrahim-oglf]

Hello Sir, please tell me that will it work in ros1?

[skyeg]

Hey man I'd be really interested to get your opinion on a video I have on my channel called 'turn center experimentation' This is a mockup of a way to think about vehicle control in which all movement is based off of a direction and a turn center point. During straight travel the turn center point is out infinity distance to the sides of the vehicle travel. Then, as the turn is increased, the turn center comes in all the way until the center is directly under the vehicle and the vehicle is turning on a dime. So, turning on a dime isn't a separate drive mode but is a state the vehicle transitions into and out of smoothly. Do you think you could code something like this? Is the approach much different from what you have here? If anyone can do this I will build the test rig. Ridable version. No joke.

[mohamedboukermouche]

magnifique
thanks alot for this video

[mikeb]

Shame the commentary is by a synthetic voice with poor intonation; it actually makes it more difficult to understand.

[PawesomePlanet]

hey man i have a problem at last for launching the gazebo source -bash it says there is no such a file or directory can u help me pls

[hasanamkieh]

Hello robot mania, can you please help me solve this error, I tried to solve but nothing is working, I have gazebo11 and ros humble, after I called colcon build, then I run the gazebo_simulation package and I get this error "[ros2-6] Could not contact service /controller_manager/load_controller", I tried reinstalling all gazebo packages, but it is still the same, this is the full error: [ros2-6] Could not contact service
[ERROR] [ros2-6]: process has died [pid 22952, exit code 1, cmd 'ros2 control load_controller --set-state active
[ros2-7] Could not contact service
[ros2-8] Could not contact service
[ERROR] [ros2-8]: process has died [pid 22956, exit code 1, cmd 'ros2 control load_controller --set-state active joint_state_broadcaster'].
[ERROR] [ros2-7]: process has died [pid 22954, exit code 1, cmd 'ros2 control load_controller --set-state active
I have found the same problem where someone has solved this issue, I did not get exactly what he means, I couldn't understand for what file that I need to source, this is what he said " Resolved it. If your package is in your custom workspace, you need to source the files from the gazebo_ros2_control workspace to load the control_manager ",

[陳禹衡-bd]

May I contact you with gmail ? I want to ask a question about 4ws

[gurselturkeri]

Hi, Can you give your mail adres? In my robotic arm project I get an error about controller_manager.